Where am I

This is a project where a robot localizes itself using amcl with a known map.

This project uses the robot and environment models found here. It uses ros amcl to localize itself on a map built with this tool.

Requirements

While this package was created on Ubuntu 20.04, it seems it is crashing because of an update. Try running it in Ubuntu 16.04.

• Required ROS packages:

$ sudo apt-get install ros-<YOUR ROS VERSION>-navigation
$ sudo apt-get install ros-<YOUR ROS VERSION>-map-server
$ sudo apt-get install ros-<YOUR ROS VERSION>-move-base
$ sudo apt-get install ros-<YOUR ROS VERSION>-amcl

Running

1. Clone this package to your <ROS_workspace/src>
2. Compile:

$ catkin_make

3. Launch world:

$ roslaunch my_robot world.launch

3. Launch localization:

$ roslaunch my_robot amcl.launch

The robot should not be well localized at start (orange arrows are the estimated pose):

After sending 2D navigation goals, robot should localize very well:

Meta

• Luis M. - GitHub

Distributed under the MIT License. See LICENSE for more information.

This project was developed for the Robotics Software Engineer nanodegree at Udacity.